Mobile platform for motion capture of locomotion over long distances.
Mobile platform for motion capture of locomotion over long distances.
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DOI：
10.1016/j.jbiomech.2013.06.002
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发表时间：
2013-09-03
影响因子：
2.4
通讯作者：
Kuo, Arthur D.
中科院分区：
文献类型：
--
作者：
Ojeda, Lauro;Rebula, John R.;Adamczyk, Peter G.;Kuo, Arthur D.
运动捕捉通常只在地面运动的几步上执行，这受到大多数捕捉系统的有限感测体积的限制。这使得很难评估长距离行走或在实验室外的自然环境中行走。在这里，我们表明，运动捕捉可以相对于一个移动的平台，如一个轮式推车，移动与行走的主题。为了确定人在空间中的绝对位移，必须定位推车自身的运动。我们提出了三种本地化方法，并评估其性能。第一个检测推车运动完全从相对运动的受试者的脚在行走过程中。其他人使用感应到的车轮运动来执行里程计，有或没有额外的陀螺仪，以提高灵敏度，围绕垂直轴转动。我们表明，这种方法是切实可行的，并与当今的传感器可以产生优于1%的精度在任意距离。
Motion capture is usually performed on only a few steps of over-ground locomotion, limited by the finite sensing volume of most capture systems. This makes it difficult to evaluate walking over longer distances, or in a natural environment outside the laboratory. Here we show that motion capture may be performed relative to a mobile platform, such as a wheeled cart that is moved with the walking subject. To determine the person’s absolute displacement in space, the cart’s own motion must be localized. We present three localization methods and evaluate their performance. The first detects cart motion solely from the relative motion of the subject’s feet during walking. The others use sensed motion of the cart’s wheels to perform odometry, with and without an additional gyroscope to enhance sensitivity to turning about the vertical axis. We show that such methods are practical to implement, and with present-day sensors can yield accuracy of better than 1% over arbitrary distances.
DOI：
10.1109/70.917085
发表时间：
2001-02-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Chung, H;Ojeda, L;Borenstein, J
通讯作者：
Borenstein, J
影响因子：
2.4
作者：
Bauby, CE;Kuo, AD
通讯作者：
Kuo, AD
影响因子：
9.2
作者：
Kelly, A
通讯作者：
Kelly, A